LEGO NXT Brick使用NBC

我是NBC编程的新手,我正在尝试编程我的Lego NXT Brick来搜索和跟踪我在地板上的黑色电子胶带线(我在前面有光传感器,直接指向地面).截至目前,灯亮了,但机器人只是继续越过磁带而没有承认它.如果碰到墙壁,我也会把它设置为停下来转身.唯一不起作用的是当光线照过它时,确认并跟随黑带.任何人都可以看看我的代码并告诉我哪里出错了？

                                          dseg segment
  Switch sword 0
  Volume sword 0
  Level sword 0
  Distance sword 0
dseg ends

thread main
  SetSensorTouch(IN_1)    // touch sensor connected to IN_1
  SetSensorSound(IN_2)    // sound sensor connected to IN_2
  SetSensorLight(IN_3)    // Light Sensor connected to input 3
  SetSensorUltrasonic(IN_4) // Ultrasonic Sensor connected to input 4
  OnFwd(OUT_BC,80)     // move forward

CheckSensor:

  ReadSensor(IN_1,Switch)       // reads current value of sensor (0/1)
  brtst EQ, CheckSensor, Switch // branch to CheckSensor if Switch = 0
                              // i.e., exit the loop when Switch = 1


  OnRev(OUT_BC,40)      // move backward
  wait 500
  OnFwd(OUT_B,20)       // turn
  wait 500

  jmp CheckSound

CheckSound:
  ReadSensor(IN_2, Volume)
  brcmp GT, ExitCheck, Volume, 60

  jmp CheckSound

 ExitCheck:

 OnFwd(OUT_BC,60)

  jmp CheckLight

  CheckLight:
  ReadSensor(IN_3,Level)
  brcmp LT, CheckLight, Level, 60

  ReadSensorUS(IN_4,Distance)
  brcmp LT, EndPoint, Distance, 30

  OnFwd(OUT_C, 10)

  FindPath:
  ReadSensor(IN_3,Level)
  brcmp GTEQ, FindPath, Level, 60

  OnFwd(OUT_BC, 60)

  jmp CheckLight

  EndPoint:

  Off(OUT_BC)

  wait 1500



endt